An Augmented Reality (AR)-system comprising a permanent marker having a defined pose relative to a coordinate system, an AR-device having a camera and a processing unit, wherein the AR-device is configured to visually detect and identify the permanent marker, determine a relative pose between the AR-device and the permanent marker, a temporary marker having a coded design and an undefined pose relative to the coordinate system and the permanent marker, wherein the AR-device is configured to visually detect and identify the temporary marker by the coded design, determine a relative pose between the permanent marker and the temporary marker, based on the determined relative pose between the permanent marker and the temporary marker, defining a pose of the temporary marker relative to the coordinate system, determine a relative pose between the AR-device and the temporary marker.